Robust Control of a Bevel-Tip Needle for Medical Interventional Procedures

doi:10.1109/JAS.2019.1911660

CASIA OpenIR > 学术期刊 > IEEE/CAA Journal of Automatica Sinica

	Robust Control of a Bevel-Tip Needle for Medical Interventional Procedures
	Surender Hans; Felix Orlando Maria Joseph
发表期刊	IEEE/CAA Journal of Automatica Sinica
ISSN	2329-9266
	2020
卷号	7 期号:1 页码:244-256
摘要	In minimally invasive surgery, one of the main objectives is to ensure safety and target reaching accuracy during needle steering inside the target organ. In this research work, the needle steering approach is determined using a robust control algorithm namely the integral sliding mode control (ISMC) strategy to eliminate the chattering problem associated with the general clinical scenario. In general, the discontinuity component of feedback control input is not appropriate for the needle steering methodology due to the practical limitations of the driving actuators. Thus in ISMC, we have incorporated the replacement of the discontinuous component using a super twisting control (STC) input due to its unique features of chattering elimination and disturbance observation characteristics. In our study, the kinematic model of an asymmetric flexible bevel-tip needle in a soft-tissue phantom is used to evaluate stability analysis. A comparative study based on the analysis of chattering elimination is executed to determine the performance of the proposed control strategy in real-time needle steering with conventional sliding mode control using vision feedback through simulation and experimental results. This validates the efficacy of the proposed control strategy for clinical needle steering.
关键词	Minimal invasive surgery needle steering nonholonomic system robust control sliding mode control
DOI	10.1109/JAS.2019.1911660
引用统计	被引频次：9[WOS] [WOS记录] [WOS相关记录]
文献类型	期刊论文
条目标识符	http://ir.ia.ac.cn/handle/173211/42936
专题	学术期刊_IEEE/CAA Journal of Automatica Sinica
推荐引用方式 GB/T 7714	Surender Hans,Felix Orlando Maria Joseph. Robust Control of a Bevel-Tip Needle for Medical Interventional Procedures[J]. IEEE/CAA Journal of Automatica Sinica,2020,7(1):244-256.
APA	Surender Hans,&Felix Orlando Maria Joseph.(2020).Robust Control of a Bevel-Tip Needle for Medical Interventional Procedures.IEEE/CAA Journal of Automatica Sinica,7(1),244-256.
MLA	Surender Hans,et al."Robust Control of a Bevel-Tip Needle for Medical Interventional Procedures".IEEE/CAA Journal of Automatica Sinica 7.1(2020):244-256.

条目包含的文件
文件名称/大小	文献类型	版本类型	开放类型	使用许可
JAS-2019-0092.pdf（10742KB）	期刊论文	出版稿	开放获取	CC BY-NC-SA	浏览